version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 21
start: 1 27 117 4 14 53
data:
$ID,626
$MISSION,1
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,200
$T_ABORT,400
$T_TURN,250
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,360
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129649.85
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,158
$PITCH_MAX,3905
$C_PITCH,2800
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2640
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.80853
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043901233
$SEABIRD_T_H,0.00063526275
$SEABIRD_T_I,2.50098e-05
$SEABIRD_T_J,2.985784e-06
$SEABIRD_C_G,-9.6502161
$SEABIRD_C_H,1.0763537
$SEABIRD_C_I,-0.002494992
$SEABIRD_C_J,0.00024128702
$GPS1,270117,040931,2241.779,-15802.067,39,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.1
$GPS2,270117,041357,2241.804,-15802.076,6,1.3,6,9.8
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,0.166
$KALMAN_X,-24332.8,1014.3,225.3,23220.6,-3053.9
$KALMAN_Y,-3165.0,-238.8,317.9,4391.2,-346.2
$MHEAD_RNG_PITCHd_Wd,36.7,6900,-15.0,-8.032,-18.39,2776
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.63,-146.0,135,2509,1189,1130,0.0,0.0,0,79,0.00,0.00,-61.22,0.000,16390,0.000,0.000,134,2509,3237,3265,3209,0,0,0,0,0,0,28.83,28.83,14.98
$GC,81,-0.63,-146.0,134,2509,3265,3209,3.8,-7.2,7,99,8.80,2.38,0.00,0.000,2308,0.529,0.075,2586,3904,3237,3266,3209,0,0,0,0,0,0,14.52,14.73,28.83
$GC,162,-0.63,-146.0,2587,3903,3266,3209,32.2,-20.9,18,172,0.00,2.33,0.00,0.000,1030,0.000,0.055,2587,2505,3237,3266,3209,0,0,0,0,0,0,28.83,14.77,28.83
$GC,488,-0.63,-146.0,2586,2504,3267,3208,101.8,-20.4,67,495,0.00,2.33,0.00,0.000,516,0.000,0.066,2587,1082,3238,3267,3209,0,0,0,0,0,0,28.83,14.85,28.83
$GC,569,-0.63,-146.0,2587,1081,3268,3208,117.7,-19.4,80,579,0.00,2.40,0.00,0.000,1030,0.000,0.072,2587,2486,3238,3268,3209,0,0,0,0,0,0,28.83,14.82,28.83
$GC,864,-0.63,-146.0,2587,2485,3269,3209,163.2,-13.4,121,872,0.00,2.25,0.00,0.000,516,0.000,0.060,2587,1089,3238,3269,3208,0,0,0,0,0,0,28.83,14.88,28.83
$GC,884,-0.63,-146.0,2587,1089,3269,3209,166.2,-13.0,123,888,0.00,2.35,0.00,0.000,1030,0.000,0.071,2587,2500,3239,3269,3209,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1129,-0.63,-146.0,2586,2500,3270,3209,198.8,-12.8,147,1141,0.00,2.33,0.00,0.000,260,0.000,0.089,2586,3910,3239,3271,3208,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1173,-0.63,-146.0,2587,3911,3271,3209,204.3,-12.5,150,1177,0.00,2.28,0.00,0.000,1030,0.000,0.051,2587,2485,3239,3270,3209,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1449,-0.63,-146.0,2587,2484,3271,3208,237.5,-11.8,157,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2484,3240,3271,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,-0.63,-146.0,2587,2483,3271,3209,266.2,-11.8,163,1693,0.00,2.25,0.00,0.000,516,0.000,0.063,2586,1083,3240,3271,3209,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1712,-0.63,-146.0,2587,1082,3271,3209,266.2,-11.8,163,1716,0.00,2.40,0.00,0.000,1030,0.000,0.072,2587,2506,3240,3271,3209,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1964,-0.63,-146.0,2587,2506,3271,3208,295.7,-10.8,170,1968,0.00,2.30,0.00,0.000,516,0.000,0.063,2587,1087,3240,3272,3208,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2002,-0.63,-146.0,1704,1086,3253,3205,299.7,-11.1,171,2007,0.00,2.40,0.00,0.000,1030,0.000,0.072,2587,2506,3239,3271,3208,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2280,-0.63,-146.0,2587,2506,3270,3207,331.5,-11.4,178,2284,0.00,2.30,0.00,0.000,516,0.000,0.064,2587,1089,3238,3271,3206,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2334,-0.63,-146.0,2587,1089,3271,3206,335.7,-11.6,179,2338,0.00,2.38,0.00,0.000,1030,0.000,0.073,2587,2494,3238,3270,3206,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2596,-0.63,-146.0,2587,2495,3271,3204,365.9,-11.0,186,2600,0.00,2.35,0.00,0.000,260,0.000,0.093,2587,3911,3237,3269,3205,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2654,-0.63,-146.0,2587,3911,3271,3204,369.9,-11.1,187,2659,0.00,2.30,0.00,0.000,1030,0.000,0.056,2587,2498,3237,3270,3204,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2911,-0.63,-146.0,2587,2498,3270,3199,399.4,-10.3,194,2916,0.00,2.28,0.00,0.000,516,0.000,0.069,2587,1088,3235,3271,3200,0,0,0,0,0,0,28.83,15.08,28.83
$STATE,2946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2946,begin apogee
$GC,2952,-0.15,0.0,2587,2408,3270,3200,403.4,-10.5,195,3072,0.45,0.00,116.45,2.358,10246,0.292,0.000,2748,2409,2640,2718,2562,0,0,0,0,0,0,14.95,28.83,13.47
$STATE,3073,end apogee,CONTROL_FINISHED_OK
$STATE,3073,begin climb
$GC,3074,0.63,146.0,2748,2408,2718,2563,408.5,0.0,198,3202,0.65,2.50,120.25,2.334,10500,0.190,0.086,2998,3815,2043,2131,1955,0,0,0,0,0,0,14.19,14.13,13.40
$GC,3317,0.63,146.0,2998,3815,2130,1952,391.6,11.0,204,3321,0.00,2.40,0.00,0.000,1030,0.000,0.061,3009,2411,2041,2131,1951,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3584,0.63,146.0,3009,2408,2130,1943,355.8,13.0,211,3588,0.00,2.38,0.00,0.000,516,0.000,0.074,3018,982,2036,2130,1943,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3613,0.63,146.0,3018,982,2130,1942,355.8,13.0,211,3620,0.00,2.40,0.00,0.000,1030,0.000,0.072,3018,2405,2036,2130,1942,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3860,0.63,146.0,3018,2404,2130,1941,315.9,14.4,218,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2404,2035,2130,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,0.63,146.0,3018,2405,2130,1939,283.4,13.3,224,4104,0.00,2.38,0.00,0.000,516,0.000,0.076,3029,981,2034,2130,1939,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4324,0.63,146.0,3029,981,2130,1934,259.0,12.2,229,4329,0.05,2.40,0.00,0.000,5126,0.401,0.072,2996,2392,2032,2130,1934,0,0,0,0,0,0,14.83,14.97,28.83
$GC,4576,0.63,146.0,2996,2392,2130,1934,231.6,9.7,236,4580,0.00,2.35,0.00,0.000,516,0.000,0.075,3006,978,2032,2130,1935,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4654,0.63,146.0,3006,978,2130,1932,224.0,10.0,238,4659,0.00,2.42,0.00,0.000,1030,0.000,0.073,3006,2407,2031,2130,1932,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4931,0.63,146.0,3006,2407,2130,1932,198.9,8.5,245,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2406,2031,2130,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,0.63,146.0,3006,2407,2130,1932,176.7,9.5,269,5176,0.00,2.35,0.00,0.000,260,0.000,0.091,3005,3818,2031,2130,1933,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5245,0.63,146.0,2080,3817,2087,1926,169.2,10.7,275,5252,0.00,2.35,0.00,0.000,1030,0.000,0.062,3016,2397,2031,2130,1932,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5500,0.63,146.0,3016,2396,2130,1932,146.6,8.6,303,5507,0.00,2.33,0.00,0.000,516,0.000,0.075,3026,979,2031,2130,1932,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5602,0.63,146.0,3026,978,2130,1930,138.3,8.3,319,5610,0.10,2.38,0.00,0.000,5126,0.442,0.072,3003,2410,2030,2130,1930,0,0,0,0,0,0,14.83,14.98,28.83
$GC,5907,0.67,170.9,3002,2410,2130,1931,115.5,7.1,368,5923,0.00,0.00,12.75,1.724,8454,0.000,0.000,3003,2410,1942,2044,1841,0,0,0,0,0,0,28.83,28.83,14.18
$GC,6220,0.67,170.9,3003,2410,2044,1839,91.6,8.3,418,6229,0.00,2.42,0.00,0.000,516,0.000,0.073,3008,986,1941,2044,1838,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6343,0.71,209.3,3008,986,2044,1837,82.5,6.6,437,6374,0.05,2.35,21.42,1.489,11270,0.390,0.068,3044,2403,1784,1890,1679,0,0,0,0,0,0,14.80,14.90,14.16
$GC,6704,0.71,209.3,3044,2403,1890,1673,47.5,11.0,489,6715,0.05,2.40,0.00,0.000,4612,0.532,0.070,3043,996,1781,1890,1672,0,0,0,0,0,0,14.70,14.81,28.83
$GC,6751,0.71,209.3,3043,996,1890,1672,42.5,10.8,495,6761,0.03,2.40,0.00,0.000,5126,0.427,0.070,3035,2403,1781,1890,1672,0,0,0,0,0,0,14.66,14.81,28.83
$GC,7093,0.71,209.3,3034,2404,1890,1672,3.7,12.0,544,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2404,1781,1890,1672,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7110,end climb,SURFACE_DEPTH_REACHED
$STATE,7110,begin surface coast
$FINISH,0.1,1.023708
$STATE,7139,end surface coast,CONTROL_FINISHED_OK
$STATE,7139,begin surface
$SM_CCo,7152,74.05,0.845,0,0,1171,360.09
$SM_GC,1.23,6.75,0.17,74.05,0.102,0.128,0.845,137,2514,1171,-8.23,-0.54,360.09,0,0,0,0,0,0,14.89,14.88,14.26
$IRIDIUM_FIX,2232.34,-15802.37,231109,171751
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.52
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.4,16.046
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.925,80.200,270.875,74.050,0.000,29.377,45.904,113.410,0.000,0.000,7.066,1409.890,3444.804,419.846,2174.194,58.324,33.232,1072.256,0.000,1327.686,0.000,0.550,0.000
$DEVICE_MAMPS,532.440,127.755,2358.495,844.560,0.000,30.600,160.000,223.000,420.000,0.000,11.240,10.070,2.190,10.820,31.040,37.790,48.270,10.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,370.842,349.900,624.195,622.610,1288.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,50569,550
$CAP_FILE_SIZE,81336,0
$CFSIZE,2097086464,2092302336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270117,061609,2242.400,-15801.760,13,1.0,13,9.8